{"id":"https://openalex.org/W4312361572","doi":"https://doi.org/10.1109/iros47612.2022.9981448","title":"Impressionist Algorithms for Autonomous Multi-Robot Systems: Flocking as a Case Study","display_name":"Impressionist Algorithms for Autonomous Multi-Robot Systems: Flocking as a Case Study","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312361572","doi":"https://doi.org/10.1109/iros47612.2022.9981448"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981448","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981448","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024750186","display_name":"Florian Berlinger","orcid":"https://orcid.org/0000-0002-9778-722X"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Florian Berlinger","raw_affiliation_strings":["Princeton University,Department of Mechanical and Aerospace Engineering,Princeton,New Jersey","Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, New Jersey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Mechanical and Aerospace Engineering,Princeton,New Jersey","institution_ids":["https://openalex.org/I20089843"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, New Jersey","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017446467","display_name":"Julia Ebert","orcid":"https://orcid.org/0000-0002-1975-772X"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Julia T. Ebert","raw_affiliation_strings":["John A. Paulson School of Engineering and Applied Science at Harvard University,Cambridge,Massachusetts","John A. Paulson School of Engineering and Applied Science at Harvard University, Cambridge, Massachusetts"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"John A. Paulson School of Engineering and Applied Science at Harvard University,Cambridge,Massachusetts","institution_ids":["https://openalex.org/I136199984"]},{"raw_affiliation_string":"John A. Paulson School of Engineering and Applied Science at Harvard University, Cambridge, Massachusetts","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049251065","display_name":"Radhika Nagpal","orcid":"https://orcid.org/0000-0001-9756-0167"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Radhika Nagpal","raw_affiliation_strings":["Princeton University,Department of Mechanical and Aerospace Engineering,Princeton,New Jersey","Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, New Jersey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Princeton University,Department of Mechanical and Aerospace Engineering,Princeton,New Jersey","institution_ids":["https://openalex.org/I20089843"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, New Jersey","institution_ids":["https://openalex.org/I20089843"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"11562","last_page":"11569"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.998199999332428,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7817345857620239},{"id":"https://openalex.org/keywords/flocking","display_name":"Flocking (texture)","score":0.7523643970489502},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.649068295955658},{"id":"https://openalex.org/keywords/swarm-behaviour","display_name":"Swarm behaviour","score":0.6031769514083862},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.48209622502326965},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4811195433139801},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4423951208591461},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.43076765537261963},{"id":"https://openalex.org/keywords/swarm-robotics","display_name":"Swarm robotics","score":0.419749915599823},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39342689514160156},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3750517666339874},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34004953503608704},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3377940058708191}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7817345857620239},{"id":"https://openalex.org/C2781220375","wikidata":"https://www.wikidata.org/wiki/Q814208","display_name":"Flocking (texture)","level":2,"score":0.7523643970489502},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.649068295955658},{"id":"https://openalex.org/C181335050","wikidata":"https://www.wikidata.org/wiki/Q14915018","display_name":"Swarm behaviour","level":2,"score":0.6031769514083862},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.48209622502326965},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4811195433139801},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4423951208591461},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43076765537261963},{"id":"https://openalex.org/C169337768","wikidata":"https://www.wikidata.org/wiki/Q2446723","display_name":"Swarm robotics","level":3,"score":0.419749915599823},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39342689514160156},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3750517666339874},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34004953503608704},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3377940058708191},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981448","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981448","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7123648990","display_name":null,"funder_award_id":"N00014-22-1-2222","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1512235915","https://openalex.org/W1669403692","https://openalex.org/W1865403180","https://openalex.org/W2015410655","https://openalex.org/W2027872228","https://openalex.org/W2029259235","https://openalex.org/W2030775133","https://openalex.org/W2095362490","https://openalex.org/W2102768593","https://openalex.org/W2105850748","https://openalex.org/W2118331730","https://openalex.org/W2130403883","https://openalex.org/W2139504267","https://openalex.org/W2150312211","https://openalex.org/W2153081079","https://openalex.org/W2165744313","https://openalex.org/W2544041682","https://openalex.org/W2600080636","https://openalex.org/W2742188239","https://openalex.org/W2789410150","https://openalex.org/W2884236119","https://openalex.org/W2890475775","https://openalex.org/W2905359332","https://openalex.org/W2910316875","https://openalex.org/W2918649777","https://openalex.org/W2924849247","https://openalex.org/W2981762858","https://openalex.org/W3107094812","https://openalex.org/W3119182912","https://openalex.org/W3124248623","https://openalex.org/W3205929964"],"related_works":["https://openalex.org/W2002188687","https://openalex.org/W2142589698","https://openalex.org/W2794811781","https://openalex.org/W1871202614","https://openalex.org/W4327740834","https://openalex.org/W4233987368","https://openalex.org/W4389665619","https://openalex.org/W4387113913","https://openalex.org/W1596835606","https://openalex.org/W2138105113"],"abstract_inverted_index":{"Robot":[0],"swarms":[1],"have":[2,43],"the":[3,71,140,153,157,174],"potential":[4,175],"to":[5,14,96],"revolutionize":[6],"areas":[7],"ranging":[8],"from":[9],"warehouse":[10],"management":[11],"and":[12,16,27,38,51,120,128,135,146,185],"agriculture":[13],"underwater":[15,68],"space":[17],"exploration.":[18],"However,":[19],"there":[20],"remains":[21],"a":[22,107],"substantial":[23],"gap":[24],"between":[25,76],"theory":[26],"robot":[28,108],"implementation.":[29],"While":[30],"algorithms":[31,93,178],"might":[32],"assume":[33],"reliable":[34,117],"communication,":[35,48],"perfect":[36],"sensing,":[37,50],"instantaneous":[39],"cognition,":[40],"most":[41],"robots":[42,166],"lossy":[44],"or":[45],"even":[46,87],"no":[47],"imperfect":[49,129],"limited":[52],"cognition":[53],"speed.":[54],"In":[55,132],"our":[56],"previous":[57],"work":[58],"on":[59,102,152,181],"implicit":[60],"vision-based":[61],"coordination,":[62],"we":[63,79,138,159],"demonstrated":[64],"autonomous":[65],"three-dimensional":[66],"behaviors":[67],"by":[69],"removing":[70],"need":[72],"for":[73,156],"radio":[74],"communication":[75],"robots.":[77],"Here":[78],"explore":[80],"impressionist":[81,177],"algorithms,":[82],"capable":[83],"of":[84,142,149,176],"working":[85],"with":[86,125,164],"more":[88],"minimal":[89],"information":[90,151],"where":[91,106],"traditional":[92],"are":[94],"prone":[95],"fail.":[97],"Our":[98,171],"case":[99],"study":[100],"focuses":[101],"classic":[103],"flocking":[104],"behaviors,":[105],"swarm":[109],"must":[110],"coordinate":[111],"group":[112],"motion.":[113],"We":[114],"demonstrate":[115,161],"that":[116,179],"alignment,":[118],"dispersion,":[119],"milling":[121],"can":[122],"be":[123],"achieved":[124],"only":[126],"infrequent":[127],"sensory":[130],"impressions.":[131],"simulation":[133],"studies":[134],"theoretical":[136],"analyses,":[137],"investigate":[139],"effect":[141],"systematically":[143],"reducing":[144],"spatial":[145],"temporal":[147],"fidelity":[148],"individual":[150],"success":[154],"metrics":[155,184],"group;":[158],"also":[160],"physical":[162],"experiments":[163],"Blueswarm":[165],"using":[167],"simple":[168],"color":[169],"detection.":[170],"results":[172],"show":[173],"operate":[180],"simpler":[182],"neighborhood-awareness":[183],"still":[186],"achieve":[187],"desired":[188],"global":[189],"goals.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}